Function CanClockLoop

src/CAN/CanInterface.cpp:568–670

}

extern "C" [[noreturn]] void CanClockLoop(void *) noexcept
{
	CanMessageBuffer buf;
	uint32_t lastWakeTime = xTaskGetTickCount();
	uint32_t lastTimeSent = 0;
	uint32_t lastRealTimeSent = 0;
#if !SAME70
	uint16_t lastTimeSyncTxPreparedStamp = 0;
#endif

	for (;;)
	{
		CanMessageTimeSync * const msg = buf.SetupBroadcastMessage<CanMessageTimeSync>(CanInterface::GetCanAddress());
		msg->lastTimeSent = lastTimeSent;
		msg->lastTimeAcknowledgeDelay = 0;									// assume we don't have the transmit delay available

		currentTimeSyncMarker = ((currentTimeSyncMarker + 1) & 0x0F) | 0xA0;
		buf.marker = currentTimeSyncMarker;
		buf.reportInFifo = 1;

		if (gotTimeSyncTxTimeStamp)
		{
			// Calculate the delay in sending the last time sync message, in step clocks
# if SAME70
			// On the SAME70 the step clock is also the external time stamp counter
			const uint32_t timeSyncTxDelay = (timeSyncTxTimeStamp - (uint16_t)lastTimeSent) & 0xFFFF;
# else
			// On the SAME5x the time stamp counter counts CAN bit times. The step clock is the CAN clock divided by 64.
			const uint32_t timeSyncTxDelay = ((uint32_t)((timeSyncTxTimeStamp - lastTimeSyncTxPreparedStamp) & 0xFFFF) * CanInterface::GetTimeStampPeriod()) >> 6;
# endif
			if (timeSyncTxDelay > peakTimeSyncTxDelay)
			{
				peakTimeSyncTxDelay = timeSyncTxDelay;
			}

			// Occasionally on the SAME70 we get very large delays reported. These delays are not genuine.
			if (timeSyncTxDelay < MaxTimeSyncDelay)
			{
				msg->lastTimeAcknowledgeDelay = timeSyncTxDelay;
			}
			gotTimeSyncTxTimeStamp = false;
		}

		msg->isPrinting = reprap.GetGCodes().IsReallyPrinting();

		// Send the real time just once a second unless we also need to send the movement delay
		const uint32_t realTime = (uint32_t)reprap.GetPlatform().GetDateTime();
		const StepTimer::Ticks newMovementDelay = StepTimer::CheckMovementDelayIncreased();
		if (newMovementDelay != 0)
		{
			msg->realTime = realTime;
			lastRealTimeSent = realTime;
			msg->movementDelay = newMovementDelay;
		}
		else if (realTime != lastRealTimeSent)
		{
			msg->realTime = realTime;
			lastRealTimeSent = realTime;